CN110510151B - Articulated formula extends arm deployment mechanism - Google Patents
Articulated formula extends arm deployment mechanism Download PDFInfo
- Publication number
- CN110510151B CN110510151B CN201910748205.0A CN201910748205A CN110510151B CN 110510151 B CN110510151 B CN 110510151B CN 201910748205 A CN201910748205 A CN 201910748205A CN 110510151 B CN110510151 B CN 110510151B
- Authority
- CN
- China
- Prior art keywords
- unit
- unfolding
- side edges
- bottom surfaces
- extensible
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 68
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/222—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles for deploying structures between a stowed and deployed state
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Aerials With Secondary Devices (AREA)
- Tents Or Canopies (AREA)
Abstract
The invention belongs to the technical field of aerospace unfolding mechanisms, and discloses a hinged type stretching arm unfolding mechanism, which comprises an extensible unit group and an unfolding control mechanism capable of storing and unfolding the extensible unit; the deployable unit is a prism and comprises a plurality of side edges and two bottom surfaces, and the side edges can be folded inwards to the two bottom surfaces to be in a storage state; the unfolding control mechanism comprises a supporting frame, a sliding assembly and a driving assembly, wherein the driving assembly is used for providing power for the sliding assembly, the sliding assembly can reciprocate along the supporting frame, and the deployable unit groups in the collection state are unlocked one by one until the deployable units are completely unfolded. The hinged type extending arm extending mechanism has the advantages of high rigidity, high storage efficiency and the like.
Description
Technical Field
The invention relates to the technical field of aerospace unfolding mechanisms, in particular to a hinged type stretching arm unfolding mechanism.
Background
The extending arm is a main bearing structure of large-scale space structures such as large-scale battery arrays, antennas and the like. With the rapid development of space tasks such as satellite communication technology, deep space exploration and earth observation, the requirements of large-scale spacecrafts such as space stations, space power stations and high-power electric propulsion on linear extending arms reach dozens of meters or even hundreds of meters. The extending arm is in a folded state in the launching stage and is unfolded to work after the spacecraft enters a preset orbit due to the limitation of the carrying space of the space vehicle.
The extending arms which are applied to the spacecraft at present comprise a coiled extending arm and an articulated extending arm. The longitudinal beam of the coiled extension arm is a continuous elastic rod, and the longitudinal beam is wound into a spiral shape in a furled state, so that the axial small-envelope collection is realized; the extending arm returns to the original linear state under the action of the elastic restoring force of the longitudinal beam. The coiled stretching arm is light in weight and simple in structure, but the longitudinal beam needs to be stored in a spiral deformation mode, so that the rigidity of the longitudinal beam after being unfolded is poor. The hinged type extending arm is folded and unfolded through the folding of the longitudinal beam at the hinge, the longitudinal beam does not need to be deformed to realize efficient collection, and the bearing capacity is high. However, the existing hinged type extending arm is folded in a rotational symmetry plane, and a section of collecting space is vacant in the length direction of the extending control mechanism, so that the single-section extending arm is pushed out after being extended in place, and the collecting efficiency is low; and the driving mode of the screw rod nut is adopted, the unfolding sequence control mechanism is complex, and the weight is large.
Disclosure of Invention
In order to solve the problems, the invention provides an articulated extending arm unfolding mechanism aiming at the urgent need of a large spacecraft on an extending arm with high rigidity and high collection efficiency.
The technical scheme of the invention is as follows:
an articulated type extending arm unfolding mechanism comprises an extensible unit group and an unfolding control mechanism capable of storing and unfolding the extensible unit, wherein the extensible unit group comprises a plurality of sections of extensible units which are arranged in an array along the unfolding direction;
the deployable unit is a prism and comprises a plurality of side edges and two bottom surfaces, wherein the side edges can be folded inwards to the two bottom surfaces to be in a storage state, the side edges are formed by connecting two sections of rod pieces through 180-degree hinges, and the side edges are connected with the bottom surfaces through 90-degree hinges;
the unfolding control mechanism comprises a supporting frame, a sliding assembly and a driving assembly, wherein the driving assembly is used for providing power for the sliding assembly, the supporting frame is matched with the unfolding unit, the unfolding unit is hidden in the supporting frame, the sliding assembly can move back and forth along the supporting frame, the unfolding unit is unlocked one by one in a collection state, and the unfolding unit is completely unfolded.
In an embodiment of the invention, tensioning mechanisms are arranged at the top corners of the bottom surfaces of the expandable units, and cables are connected in a cross manner along the diagonal lines of the two bottom surfaces through the tensioning mechanisms.
In an embodiment of the present invention, the supporting frame is a prism, and includes a plurality of lateral edges and two bottom surfaces, the deployable unit group can be stored between the two bottom surfaces, and the deployable unit can move along the lateral edges in the deployment direction.
In an embodiment of the present invention, a guide groove is provided along a side edge of the support frame, and guide pieces are provided at top corners of the bottom surface of the deployable unit, and the guide pieces can move in the deployment direction along the guide groove.
In an embodiment of the present invention, the sliding component is a prism, and includes a plurality of side edges and two bottom surfaces, and a sliding block is disposed along the side edges; and a guide rail is arranged along the lateral edge of the supporting frame, and the sliding block can reciprocate on the guide rail.
In an embodiment of the present invention, along the unfolding direction of the expandable unit, the lateral edges near the end of the support frame are provided with release control mechanisms, and the lateral edges near the end of the sliding assembly are provided with shifting teeth, and the shifting teeth reciprocally act on the release control mechanisms to control the expandable unit to be sequentially released section by section.
In one embodiment of the invention, an adapter is arranged at the top corner of the bottom surface of the extensible unit, and a gripping tooth mechanism for gripping the adapter is arranged at the top corner close to the bottom surface of the tail end of the sliding assembly.
In an embodiment of the present invention, the driving assembly is mounted on two bottom surfaces of the supporting frame, and includes a motor and a conveyor belt.
In an embodiment of the present invention, the deployable unit, the supporting member and the sliding member are triangular prisms.
Compared with the prior art, the invention has the following beneficial effects:
1) According to the hinged type extending arm unfolding mechanism, the extensible units are folded and furled in the side surfaces of the prismatic extending arms, the extensible units can be arranged in the length direction of the unfolding control mechanism, the folding control mechanism has high collection efficiency, and longer extending arms can be unfolded under the same collection envelope;
2) According to the hinged type stretching arm unfolding mechanism, the conveyor belt or the chain is adopted to drive the sliding assembly to reciprocate, and the release control mechanism is triggered through circulating motion, so that the unfoldable units are sequentially unfolded, and the complexity and the whole weight of the mechanism are reduced to a certain extent;
3) According to the hinged type stretching arm unfolding mechanism, after the hinged type extensible unit is completely unfolded, the gripping mechanism of the unfolding control unit is fixedly connected with the last extensible transverse frame in a locking mode, and the rigidity and the strength of the root of the stretching arm are improved.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
Drawings
FIG. 1 is a schematic view of a foldable and storable articulated arm deploying mechanism according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of the unfolding process state of the hinged type stretching arm unfolding mechanism according to the embodiment of the invention;
FIG. 3 is a schematic structural view of an articulated extendable arm deployment mechanism according to an embodiment of the present invention in an extended position;
fig. 4 is a schematic structural diagram of the expandable unit group 1;
fig. 5 is a partial enlarged view of fig. 4 at a;
fig. 6 is a schematic structural view of the deployment control mechanism 2;
FIG. 7 is a schematic view of the slide assembly 22 of FIG. 6 shown moved to an outermost end;
fig. 8 is a schematic structural view of the support frame 21;
FIG. 9 is a schematic view of the structure of the slide assembly 22;
fig. 10 is a schematic structural diagram of the driving assembly 23.
The labels in the figure are: 1-expandable unit group, 11-expandable unit, 111-lateral edge, 1111-rod, 1112-180 degree hinge, 1113-90 degree hinge, 112-bottom surface, 113-tensioning mechanism, 12-inhaul cable, 13-guide sheet, 14-adapter, 2-expansion control mechanism, 21-support frame, 211-lateral edge, 212-bottom surface, 213-guide groove, 214-guide rail, 215-release control mechanism, 22-sliding component, 221-lateral edge, 222-bottom surface, 223-slide block, 224-shifting tooth, 225-tooth grasping mechanism, 23-driving component, 231-motor and 232-conveyor belt.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather construed as limited to the embodiments set forth herein.
It should be noted that all the directional indicators (such as upper, lower, left, right, front, and rear … …) in the embodiments of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; the connection can be mechanical connection or welding connection; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between the embodiments may be combined with each other, but must be based on the realization of the technical solutions by a person skilled in the art, and when the technical solutions are contradictory to each other or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
Referring to fig. 1 to 10, an embodiment of the present invention discloses an articulated type extending arm unfolding mechanism, which includes an expandable unit group 1 and an unfolding control mechanism 2 capable of stowing and unfolding the expandable unit 11, wherein the expandable unit group 1 includes a plurality of sections of the expandable unit 11 arranged in an array along an unfolding direction;
the deployable unit 11 is a prism, and includes a plurality of side edges 111 and two bottom surfaces 112, the side edges 111 can be folded inwards to the two bottom surfaces 112 to be in a storage state, wherein the side edges 111 are formed by connecting two sections of rods 1111 through 180-degree hinges 1112, and the side edges 111 and the bottom surfaces 112 are formed by connecting 90-degree hinges 1113;
the deployable units 11 are arranged in an array along the deployment direction, the connected deployable units 11 share a bottom surface 112 to form an articulated type extending arm, and the extending arm is in a prism shape after being deployed; the two sections of rod parts 1111, the 180-degree hinges 1112 and the 90-degree hinges 1113 form a plane connecting rod mechanism which moves in the side surface of the prism, and the hinges are self-locked after being unfolded in place; when the unfolding mechanism is in a storage state, the side edges 111 are folded inwards by taking the 180-degree hinges 1112 as the axial direction, the side edges 111 and the bottom surfaces 112 take the 90-degree hinges 1113 as the axis, and the two bottom surfaces 112 are folded;
the unfolding control mechanism 2 comprises a support frame 21, a sliding assembly 22 and a driving assembly 23, wherein the driving assembly 23 is used for providing power for the sliding assembly 22, the support frame 21 is matched with the unfolding unit 11, the unfolding unit group 1 is hidden on the support frame 21, the sliding assembly 22 can move back and forth along the support frame 21 to unlock the unfolding unit group 1 one by one in the collection state, and the unfolding unit 11 is completely unfolded.
Referring to fig. 5, in another embodiment of the present invention, a tensioning mechanism 113 is provided at each top corner of the bottom surface 112 of the deployable unit 11, and the cables 12 are cross-connected along the diagonal line of the two bottom surfaces 112 by the tensioning mechanism 113. The guy cable 12 is crossed and connected with two adjacent bottom surfaces 112 through a tensioning mechanism 113, and the guy cable 12 is positioned in the side surface of the prism. The tensioning mechanism 113 is used for winding and storing the corresponding guy cable before the extensible unit 11 is completely extended, so as to avoid interference and hooking of the guy cable with other structures, provide constant tension for the guy cable and ensure the torsional rigidity of the extensible arm after the extensible arm is extended.
Referring to fig. 6 to 8, in order to better fit the deployable unit 11, in another embodiment of the present invention, the supporting frame 21 is preferably a prism including a plurality of side edges 211 and two bottom surfaces 212, and further preferably, the deployable unit group 1 is storable between the two bottom surfaces 212, the deployable unit 11 is movable along the side edges 211 in the deployment direction, and herein, the deployable unit 11 can be arranged in the deployment length direction of the deployment control mechanism 2, so that the stowing efficiency is high, and a longer extending arm can be deployed under the same stowing envelope.
Further preferably, a guide groove 213 is provided along the side edge 211 of the support frame 21, the top corners of the bottom surface 112 of the expandable unit 11 are provided with guide pieces 13, and the guide pieces 13 can move along the guide groove 213 toward the expanding direction. The guide grooves 213 restrain the guide pieces 13 arranged in an array of the expandable unit group 1 from moving linearly in the expanding direction only from the entire expandable unit group 1.
Referring to fig. 6 and 9, in another embodiment of the present invention, the sliding assembly 22 is a prism, and includes a plurality of side edges 221 and two bottom surfaces 222, and a sliding block 223 is disposed along the side edges 221; a guide rail 214 is provided along the side edge 211 of the support frame 21, and the slider 223 is reciprocally movable on the guide rail 214, where the sliding member 22 is reciprocally movable on the support frame 21.
Preferably, along the unfolding direction of the expandable unit 11, a release control mechanism 215 is disposed on each side edge 211 near the end of the support frame 21, a shifting tooth 224 is disposed on each side edge 221 near the end of the sliding assembly 22, and the shifting teeth 224 reciprocally act on the release control mechanisms 215 to control the expandable unit 11 to be sequentially released section by section.
It is further preferred that an adapter 14 is provided at the top corner of the bottom surface 112 of the deployable unit 11, and a gripping mechanism 225 for gripping the adapter 14 is provided at the top corner near the bottom surface 222 of the end of the sliding assembly 22.
Preferably, as shown in fig. 10, the driving assembly 23 is mounted on the two bottom surfaces 212 of the supporting frame 21, and includes a motor 231 and a conveyor belt 232.
Preferably, the deployable unit 11, the support member 21 and the sliding member 22 are triangular prisms.
The process of unfolding the deployable unit 11 section by section of the articulated type extending arm unfolding mechanism of the invention is as follows:
1) In the folded state, the sliding assembly 22 is shown in fig. 6, the unfolding mechanism is shown in fig. 1, the driving assembly 23 drives the sliding assembly 22 to move in the unfolding direction, and the poking tooth 224 triggers the release control mechanism 215 to release the bottom surface 112 of the outermost unit to be unfolded 11;
2) The catch mechanism 225 of the slide assembly 22 locks the adapter 14 of the bottom surface 112 released in 1);
3) The driving component 23 drives the sliding component 22 to move along the unfolding direction to the state shown in fig. 7, and the deployable unit 11 is unfolded to the position and is locked by the hinge;
4) The catch mechanism 225 of the slide assembly 22 is unlocked from the adapter 14;
5) The driving component 23 drives the sliding component 22 to move along the reverse direction of the unfolding, and the state is returned to 1);
6) Cycles 1) to 5).
As shown in FIG. 3, after the stretching arms are completely unfolded, a locking state is kept between the grabbing tooth mechanism 225 of the unfolding control mechanism 2 and the adapter 14 of the unfolded deployable unit 11 finally, so that the rigidity and the strength of the root parts of the stretching arms are improved.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (5)
1. An articulated extending arm unfolding mechanism is characterized by comprising an extensible unit group and an unfolding control mechanism capable of storing and unfolding the extensible unit, wherein the extensible unit group comprises a plurality of sections of extensible units which are arranged in an array along the unfolding direction;
the deployable unit is a prism and comprises a plurality of side edges and two bottom surfaces, wherein the side edges can be folded inwards to the two bottom surfaces to be in a storage state, the side edges are formed by connecting two sections of rod pieces through 180-degree hinges, and the side edges are connected with the bottom surfaces through 90-degree hinges;
the unfolding control mechanism comprises a supporting frame, a sliding assembly and a driving assembly, wherein the driving assembly is used for providing power for the sliding assembly, the supporting frame is matched with the extensible unit, the extensible unit is hidden on the supporting frame, the sliding assembly can reciprocate along the supporting frame to unlock the extensible unit groups one by one in a stored state until the extensible unit is completely unfolded;
the supporting frame is a prism and comprises a plurality of side edges and two bottom surfaces, the deployable unit group can be stored between the two bottom surfaces, and the deployable unit can move along the side edges to the unfolding direction;
the sliding component is a prism and comprises a plurality of side edges and two bottom surfaces, and a sliding block is arranged along the side edges; a guide rail is arranged along the lateral edge of the supporting frame, and the sliding block can reciprocate on the guide rail;
along the unfolding direction of the expandable unit, the side edges close to the tail end of the support frame are provided with release control mechanisms, the side edges close to the tail end of the sliding assembly are provided with poking teeth, and the poking teeth act on the release control mechanisms in a reciprocating manner to control the expandable unit to be released in a step-by-step and orderly manner;
an adapter is arranged at the top corner of the bottom surface of the deployable unit, and a tooth grasping mechanism for grasping the adapter is arranged at the top corner close to the bottom surface of the tail end of the sliding assembly.
2. The articulated extendable arm deployment mechanism of claim 1, wherein a tensioning mechanism is provided at each top corner of the bottom surface of the extendable unit, and a cable is cross-connected through the tensioning mechanism along a diagonal of the two bottom surfaces.
3. The articulated extendable arm deployment mechanism of claim 1, wherein a guide slot is provided along the side edge of the support frame, and wherein a guide tab is provided at each top corner of the bottom surface of the extendable unit, the guide tabs being movable along the guide slot in the deployment direction.
4. The articulated extendable arm deployment mechanism of claim 1, wherein the drive assembly is mounted to the bottom surface of the support frame and comprises a motor and a conveyor belt.
5. The articulated extension arm deployment mechanism of claim 1 wherein the deployable unit, the support member and the sliding member are triangular prisms.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910748205.0A CN110510151B (en) | 2019-08-13 | 2019-08-13 | Articulated formula extends arm deployment mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910748205.0A CN110510151B (en) | 2019-08-13 | 2019-08-13 | Articulated formula extends arm deployment mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110510151A CN110510151A (en) | 2019-11-29 |
| CN110510151B true CN110510151B (en) | 2023-01-20 |
Family
ID=68625766
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910748205.0A Active CN110510151B (en) | 2019-08-13 | 2019-08-13 | Articulated formula extends arm deployment mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110510151B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114056603A (en) * | 2021-11-16 | 2022-02-18 | 哈尔滨工业大学 | Space high folding-unfolding ratio dragging-unfolding type high-rigidity stretching arm |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4587777A (en) * | 1981-10-09 | 1986-05-13 | General Dynamics Corporation/Convair Div. | Deployable space truss beam |
| CN102923316A (en) * | 2012-11-16 | 2013-02-13 | 哈尔滨工业大学 | Unfoldable unit of triangular prism and unfoldable support arm consisting of unfoldable units |
| CN104294913B (en) * | 2014-09-12 | 2016-07-06 | 上海卫星工程研究所 | The hinged deployable trusses of triangle rope bar |
| CN108557115B (en) * | 2018-04-25 | 2022-03-15 | 哈尔滨工业大学 | Space extending arm based on telescopic lead screw drive |
| CN109760853B (en) * | 2019-01-28 | 2022-07-01 | 哈尔滨工业大学 | Folding and unfolding supporting arm driven by hinged automatic driving unit and folding lead screw |
-
2019
- 2019-08-13 CN CN201910748205.0A patent/CN110510151B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110510151A (en) | 2019-11-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9676501B1 (en) | Space solar array architecture for ultra-high power applications | |
| US10024050B2 (en) | Solar panel truss deployable from moving carrier | |
| US7211722B1 (en) | Structures including synchronously deployable frame members and methods of deploying the same | |
| US9650781B2 (en) | Deployable truss with orthogonally-hinged primary chords | |
| CN107933959B (en) | Six-rod mechanism and expandable module, extension arm and plane expansion truss formed by six-rod mechanism | |
| CN111977030B (en) | Solar wing with large folding-unfolding ratio | |
| US4151872A (en) | Panel deployment system | |
| CN112713379B (en) | Deployable antenna adopting Y-shaped rib cable net parabolic cylinder, control method and application | |
| US3677508A (en) | Folding deployable panel structure having roll-up retaining spring for stowage | |
| WO2013086422A1 (en) | Deployable truss with orthogonally-hinged primary chords | |
| JP2012153357A (en) | Extendable structure forming antenna provided with solar generator for satellite | |
| CN108598662B (en) | Double-layer parallelogram annular expandable truss | |
| CN111147014B (en) | Solar photovoltaic power generation device | |
| CN110510151B (en) | Articulated formula extends arm deployment mechanism | |
| CN115196049A (en) | Large-area flexible solar cell wing capable of being unfolded step by step and secondarily | |
| CN113879563B (en) | Double-module extensible tensioning integral structure with self-extensible folding hinge | |
| CN117508639A (en) | Space coiling type stretching arm capable of realizing two-dimensional expansion | |
| CN110797625B (en) | Scissor-fork type deployable antenna mechanism based on rolling hinge | |
| CN117429642A (en) | Multi-mode repeatable switching wing unfolding mechanism | |
| CN108001712A (en) | Mechanism for outspreading sailboard of solar cell, development system and method for deploying | |
| JP3168213B2 (en) | Deployable truss and telescopic device | |
| CN114537645A (en) | Stable unmanned aerial vehicle telescopic wing structure | |
| CN113888974B (en) | Flexible display device | |
| CN114572423B (en) | Myard mechanism-based space expandable exposure experiment platform | |
| CN115402535B (en) | Repeated folding mechanism of double-layer flexible solar wing |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |